Class #9: Criticality-Based Motion Planning –
Planning and Target Finding
pictures (left) illustrating assembly planning and the concept of a blocking
relation. On the right, two robots (black dots) searching for an intruder
(target) in a polygonal environment.
- Principles of criticality-based planning and cell decomposition
- Application to assembly planning: motion space, blocking relation, and
non-directional blocking graph
- Interference diagram
- Application to target finding: visibility cells, information states
- Required Readings:
- The non-directional blocking graph
approach to assembly planning:
R.H. Wilson and J.C. Latombe. Geometric Reasoning About
Assembly. Artificial Intelligence, 71(2), 1994. [pdf]
- Target finding:
D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Visibility-Based Pursuit-Evasion in a Polygonal
Environment. Proc. 5th
Workshop on Algorihtms and Data Structures
(WADS'97), pages 17--30. Springer Verlag, 1997.
S.M. LaValle, D. Lin, L.J. Guibas,
J.C. Latombe, and R. Motwani. Finding an Unpredictable Target in a
Workspace with Obstacles. Proc. IEEE
Int'l Conf. on Robotics and Automation, pages 737--742, 1997. [pdf]
- Other Readings:
- Research at Sandia
Labs and elsewhere:
Some of the best work in assembly planning has been done at Sandia Labs. More papers can be found here. This site also
contains a directory of research projects in assembly planning.
- Implemented assembly planners:
S.G. Kaufman, R.H.
Wilson, R.E. Jones, T.L. Calton, and A.L. Ames.
The Archimedes 2 Mechanical Assembly Planning System. Proceedings of
the IEEE International Conference on Robotics and Automation, pages
3361-3368, 1996. [pdf]
B. Romney. Atlas: An Automatic Assembly Sequencing and Fixturing System. Proceedings of the International
Conference on the Theory and Practice of Geometric Modelling,
W. Strasser, R. Klein, and R. Rau (eds.),
Springer-Verlag, pages 397-415, 1997. [pdf]
- Powerpoint slides: